hpp::core::ComparisonType Class Referenceabstract

Abstract class defining the comparison for a function value and doing a saturation, necessary for inequality constraint. More...

#include <hpp/core/comparison-type.hh>

Inheritance diagram for hpp::core::ComparisonType:

Public Types

enum  Type {
  Equality,
  EqualToZero,
  Superior,
  Inferior,
  DoubleInequality
}
 
typedef std::vector< TypeVectorOfTypes
 

Public Member Functions

virtual bool operator() (vectorOut_t value, matrixOut_t jacobian) const =0
 Return the result of the comparison. More...
 
virtual bool operator() (vectorOut_t value) const =0
 Return the result of the comparison. More...
 
virtual bool constantRightHandSide () const
 Return whether the right hand side of the comparison is constant. More...
 

Static Public Member Functions

static ComparisonTypePtr_t createDefault ()
 

Detailed Description

Abstract class defining the comparison for a function value and doing a saturation, necessary for inequality constraint.

used to compare two vector. They are used in ConfigProjector to implement inequality constraint.

Member Typedef Documentation

◆ VectorOfTypes

Member Enumeration Documentation

◆ Type

Enumerator
Equality 
EqualToZero 
Superior 
Inferior 
DoubleInequality 

Member Function Documentation

◆ constantRightHandSide()

virtual bool hpp::core::ComparisonType::constantRightHandSide ( ) const
inlinevirtual

Return whether the right hand side of the comparison is constant.

Reimplemented in hpp::core::Equality.

◆ createDefault()

◆ operator()() [1/2]

virtual bool hpp::core::ComparisonType::operator() ( vectorOut_t  value,
matrixOut_t  jacobian 
) const
pure virtual

Return the result of the comparison.

Parameters
[in,out]valuethe value that will be compared and saturated.
[in,out]jacobianthe jacobian to be saturated depending on the value.
Returns
true is the constraint is - at least partially - active

Implemented in hpp::core::DoubleInequality, hpp::core::Inequality< T >, hpp::core::ComparisonTypes, hpp::core::EqualToZero, and hpp::core::Equality.

◆ operator()() [2/2]

virtual bool hpp::core::ComparisonType::operator() ( vectorOut_t  value) const
pure virtual

Return the result of the comparison.

Parameters
[in,out]valuethe value that will be compared and saturated.
Returns
true is the constraint is - at least partially - active

Implemented in hpp::core::DoubleInequality, hpp::core::Inequality< T >, hpp::core::ComparisonTypes, hpp::core::EqualToZero, and hpp::core::Equality.